# ifndef  ORBEXT_H

# define ORBEXT_H

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <cstddef>

#define d_max 10
using namespace std;
using namespace cv;
typedef vector<uint32_t> DescType;
static int bit_pattern_31_[256 * 4] =
    {
        8, -3, 9, 5 /*mean (0), correlation (0)*/,
        4, 2, 7, -12 /*mean (1.12461e-05), correlation (0.0437584)*/,
        -11, 9, -8, 2 /*mean (3.37382e-05), correlation (0.0617409)*/,
        7, -12, 12, -13 /*mean (5.62303e-05), correlation (0.0636977)*/,
        2, -13, 2, 12 /*mean (0.000134953), correlation (0.085099)*/,
        1, -7, 1, 6 /*mean (0.000528565), correlation (0.0857175)*/,
        -2, -10, -2, -4 /*mean (0.0188821), correlation (0.0985774)*/,
        -13, -13, -11, -8 /*mean (0.0363135), correlation (0.0899616)*/,
        -13, -3, -12, -9 /*mean (0.121806), correlation (0.099849)*/,
        10, 4, 11, 9 /*mean (0.122065), correlation (0.093285)*/,
        -13, -8, -8, -9 /*mean (0.162787), correlation (0.0942748)*/,
        -11, 7, -9, 12 /*mean (0.21561), correlation (0.0974438)*/,
        7, 7, 12, 6 /*mean (0.160583), correlation (0.130064)*/,
        -4, -5, -3, 0 /*mean (0.228171), correlation (0.132998)*/,
        -13, 2, -12, -3 /*mean (0.00997526), correlation (0.145926)*/,
        -9, 0, -7, 5 /*mean (0.198234), correlation (0.143636)*/,
        12, -6, 12, -1 /*mean (0.0676226), correlation (0.16689)*/,
        -3, 6, -2, 12 /*mean (0.166847), correlation (0.171682)*/,
        -6, -13, -4, -8 /*mean (0.101215), correlation (0.179716)*/,
        11, -13, 12, -8 /*mean (0.200641), correlation (0.192279)*/,
        4, 7, 5, 1 /*mean (0.205106), correlation (0.186848)*/,
        5, -3, 10, -3 /*mean (0.234908), correlation (0.192319)*/,
        3, -7, 6, 12 /*mean (0.0709964), correlation (0.210872)*/,
        -8, -7, -6, -2 /*mean (0.0939834), correlation (0.212589)*/,
        -2, 11, -1, -10 /*mean (0.127778), correlation (0.20866)*/,
        -13, 12, -8, 10 /*mean (0.14783), correlation (0.206356)*/,
        -7, 3, -5, -3 /*mean (0.182141), correlation (0.198942)*/,
        -4, 2, -3, 7 /*mean (0.188237), correlation (0.21384)*/,
        -10, -12, -6, 11 /*mean (0.14865), correlation (0.23571)*/,
        5, -12, 6, -7 /*mean (0.222312), correlation (0.23324)*/,
        5, -6, 7, -1 /*mean (0.229082), correlation (0.23389)*/,
        1, 0, 4, -5 /*mean (0.241577), correlation (0.215286)*/,
        9, 11, 11, -13 /*mean (0.00338507), correlation (0.251373)*/,
        4, 7, 4, 12 /*mean (0.131005), correlation (0.257622)*/,
        2, -1, 4, 4 /*mean (0.152755), correlation (0.255205)*/,
        -4, -12, -2, 7 /*mean (0.182771), correlation (0.244867)*/,
        -8, -5, -7, -10 /*mean (0.186898), correlation (0.23901)*/,
        4, 11, 9, 12 /*mean (0.226226), correlation (0.258255)*/,
        0, -8, 1, -13 /*mean (0.0897886), correlation (0.274827)*/,
        -13, -2, -8, 2 /*mean (0.148774), correlation (0.28065)*/,
        -3, -2, -2, 3 /*mean (0.153048), correlation (0.283063)*/,
        -6, 9, -4, -9 /*mean (0.169523), correlation (0.278248)*/,
        8, 12, 10, 7 /*mean (0.225337), correlation (0.282851)*/,
        0, 9, 1, 3 /*mean (0.226687), correlation (0.278734)*/,
        7, -5, 11, -10 /*mean (0.00693882), correlation (0.305161)*/,
        -13, -6, -11, 0 /*mean (0.0227283), correlation (0.300181)*/,
        10, 7, 12, 1 /*mean (0.125517), correlation (0.31089)*/,
        -6, -3, -6, 12 /*mean (0.131748), correlation (0.312779)*/,
        10, -9, 12, -4 /*mean (0.144827), correlation (0.292797)*/,
        -13, 8, -8, -12 /*mean (0.149202), correlation (0.308918)*/,
        -13, 0, -8, -4 /*mean (0.160909), correlation (0.310013)*/,
        3, 3, 7, 8 /*mean (0.177755), correlation (0.309394)*/,
        5, 7, 10, -7 /*mean (0.212337), correlation (0.310315)*/,
        -1, 7, 1, -12 /*mean (0.214429), correlation (0.311933)*/,
        3, -10, 5, 6 /*mean (0.235807), correlation (0.313104)*/,
        2, -4, 3, -10 /*mean (0.00494827), correlation (0.344948)*/,
        -13, 0, -13, 5 /*mean (0.0549145), correlation (0.344675)*/,
        -13, -7, -12, 12 /*mean (0.103385), correlation (0.342715)*/,
        -13, 3, -11, 8 /*mean (0.134222), correlation (0.322922)*/,
        -7, 12, -4, 7 /*mean (0.153284), correlation (0.337061)*/,
        6, -10, 12, 8 /*mean (0.154881), correlation (0.329257)*/,
        -9, -1, -7, -6 /*mean (0.200967), correlation (0.33312)*/,
        -2, -5, 0, 12 /*mean (0.201518), correlation (0.340635)*/,
        -12, 5, -7, 5 /*mean (0.207805), correlation (0.335631)*/,
        3, -10, 8, -13 /*mean (0.224438), correlation (0.34504)*/,
        -7, -7, -4, 5 /*mean (0.239361), correlation (0.338053)*/,
        -3, -2, -1, -7 /*mean (0.240744), correlation (0.344322)*/,
        2, 9, 5, -11 /*mean (0.242949), correlation (0.34145)*/,
        -11, -13, -5, -13 /*mean (0.244028), correlation (0.336861)*/,
        -1, 6, 0, -1 /*mean (0.247571), correlation (0.343684)*/,
        5, -3, 5, 2 /*mean (0.000697256), correlation (0.357265)*/,
        -4, -13, -4, 12 /*mean (0.00213675), correlation (0.373827)*/,
        -9, -6, -9, 6 /*mean (0.0126856), correlation (0.373938)*/,
        -12, -10, -8, -4 /*mean (0.0152497), correlation (0.364237)*/,
        10, 2, 12, -3 /*mean (0.0299933), correlation (0.345292)*/,
        7, 12, 12, 12 /*mean (0.0307242), correlation (0.366299)*/,
        -7, -13, -6, 5 /*mean (0.0534975), correlation (0.368357)*/,
        -4, 9, -3, 4 /*mean (0.099865), correlation (0.372276)*/,
        7, -1, 12, 2 /*mean (0.117083), correlation (0.364529)*/,
        -7, 6, -5, 1 /*mean (0.126125), correlation (0.369606)*/,
        -13, 11, -12, 5 /*mean (0.130364), correlation (0.358502)*/,
        -3, 7, -2, -6 /*mean (0.131691), correlation (0.375531)*/,
        7, -8, 12, -7 /*mean (0.160166), correlation (0.379508)*/,
        -13, -7, -11, -12 /*mean (0.167848), correlation (0.353343)*/,
        1, -3, 12, 12 /*mean (0.183378), correlation (0.371916)*/,
        2, -6, 3, 0 /*mean (0.228711), correlation (0.371761)*/,
        -4, 3, -2, -13 /*mean (0.247211), correlation (0.364063)*/,
        -1, -13, 1, 9 /*mean (0.249325), correlation (0.378139)*/,
        7, 1, 8, -6 /*mean (0.000652272), correlation (0.411682)*/,
        1, -1, 3, 12 /*mean (0.00248538), correlation (0.392988)*/,
        9, 1, 12, 6 /*mean (0.0206815), correlation (0.386106)*/,
        -1, -9, -1, 3 /*mean (0.0364485), correlation (0.410752)*/,
        -13, -13, -10, 5 /*mean (0.0376068), correlation (0.398374)*/,
        7, 7, 10, 12 /*mean (0.0424202), correlation (0.405663)*/,
        12, -5, 12, 9 /*mean (0.0942645), correlation (0.410422)*/,
        6, 3, 7, 11 /*mean (0.1074), correlation (0.413224)*/,
        5, -13, 6, 10 /*mean (0.109256), correlation (0.408646)*/,
        2, -12, 2, 3 /*mean (0.131691), correlation (0.416076)*/,
        3, 8, 4, -6 /*mean (0.165081), correlation (0.417569)*/,
        2, 6, 12, -13 /*mean (0.171874), correlation (0.408471)*/,
        9, -12, 10, 3 /*mean (0.175146), correlation (0.41296)*/,
        -8, 4, -7, 9 /*mean (0.183682), correlation (0.402956)*/,
        -11, 12, -4, -6 /*mean (0.184672), correlation (0.416125)*/,
        1, 12, 2, -8 /*mean (0.191487), correlation (0.386696)*/,
        6, -9, 7, -4 /*mean (0.192668), correlation (0.394771)*/,
        2, 3, 3, -2 /*mean (0.200157), correlation (0.408303)*/,
        6, 3, 11, 0 /*mean (0.204588), correlation (0.411762)*/,
        3, -3, 8, -8 /*mean (0.205904), correlation (0.416294)*/,
        7, 8, 9, 3 /*mean (0.213237), correlation (0.409306)*/,
        -11, -5, -6, -4 /*mean (0.243444), correlation (0.395069)*/,
        -10, 11, -5, 10 /*mean (0.247672), correlation (0.413392)*/,
        -5, -8, -3, 12 /*mean (0.24774), correlation (0.411416)*/,
        -10, 5, -9, 0 /*mean (0.00213675), correlation (0.454003)*/,
        8, -1, 12, -6 /*mean (0.0293635), correlation (0.455368)*/,
        4, -6, 6, -11 /*mean (0.0404971), correlation (0.457393)*/,
        -10, 12, -8, 7 /*mean (0.0481107), correlation (0.448364)*/,
        4, -2, 6, 7 /*mean (0.050641), correlation (0.455019)*/,
        -2, 0, -2, 12 /*mean (0.0525978), correlation (0.44338)*/,
        -5, -8, -5, 2 /*mean (0.0629667), correlation (0.457096)*/,
        7, -6, 10, 12 /*mean (0.0653846), correlation (0.445623)*/,
        -9, -13, -8, -8 /*mean (0.0858749), correlation (0.449789)*/,
        -5, -13, -5, -2 /*mean (0.122402), correlation (0.450201)*/,
        8, -8, 9, -13 /*mean (0.125416), correlation (0.453224)*/,
        -9, -11, -9, 0 /*mean (0.130128), correlation (0.458724)*/,
        1, -8, 1, -2 /*mean (0.132467), correlation (0.440133)*/,
        7, -4, 9, 1 /*mean (0.132692), correlation (0.454)*/,
        -2, 1, -1, -4 /*mean (0.135695), correlation (0.455739)*/,
        11, -6, 12, -11 /*mean (0.142904), correlation (0.446114)*/,
        -12, -9, -6, 4 /*mean (0.146165), correlation (0.451473)*/,
        3, 7, 7, 12 /*mean (0.147627), correlation (0.456643)*/,
        5, 5, 10, 8 /*mean (0.152901), correlation (0.455036)*/,
        0, -4, 2, 8 /*mean (0.167083), correlation (0.459315)*/,
        -9, 12, -5, -13 /*mean (0.173234), correlation (0.454706)*/,
        0, 7, 2, 12 /*mean (0.18312), correlation (0.433855)*/,
        -1, 2, 1, 7 /*mean (0.185504), correlation (0.443838)*/,
        5, 11, 7, -9 /*mean (0.185706), correlation (0.451123)*/,
        3, 5, 6, -8 /*mean (0.188968), correlation (0.455808)*/,
        -13, -4, -8, 9 /*mean (0.191667), correlation (0.459128)*/,
        -5, 9, -3, -3 /*mean (0.193196), correlation (0.458364)*/,
        -4, -7, -3, -12 /*mean (0.196536), correlation (0.455782)*/,
        6, 5, 8, 0 /*mean (0.1972), correlation (0.450481)*/,
        -7, 6, -6, 12 /*mean (0.199438), correlation (0.458156)*/,
        -13, 6, -5, -2 /*mean (0.211224), correlation (0.449548)*/,
        1, -10, 3, 10 /*mean (0.211718), correlation (0.440606)*/,
        4, 1, 8, -4 /*mean (0.213034), correlation (0.443177)*/,
        -2, -2, 2, -13 /*mean (0.234334), correlation (0.455304)*/,
        2, -12, 12, 12 /*mean (0.235684), correlation (0.443436)*/,
        -2, -13, 0, -6 /*mean (0.237674), correlation (0.452525)*/,
        4, 1, 9, 3 /*mean (0.23962), correlation (0.444824)*/,
        -6, -10, -3, -5 /*mean (0.248459), correlation (0.439621)*/,
        -3, -13, -1, 1 /*mean (0.249505), correlation (0.456666)*/,
        7, 5, 12, -11 /*mean (0.00119208), correlation (0.495466)*/,
        4, -2, 5, -7 /*mean (0.00372245), correlation (0.484214)*/,
        -13, 9, -9, -5 /*mean (0.00741116), correlation (0.499854)*/,
        7, 1, 8, 6 /*mean (0.0208952), correlation (0.499773)*/,
        7, -8, 7, 6 /*mean (0.0220085), correlation (0.501609)*/,
        -7, -4, -7, 1 /*mean (0.0233806), correlation (0.496568)*/,
        -8, 11, -7, -8 /*mean (0.0236505), correlation (0.489719)*/,
        -13, 6, -12, -8 /*mean (0.0268781), correlation (0.503487)*/,
        2, 4, 3, 9 /*mean (0.0323324), correlation (0.501938)*/,
        10, -5, 12, 3 /*mean (0.0399235), correlation (0.494029)*/,
        -6, -5, -6, 7 /*mean (0.0420153), correlation (0.486579)*/,
        8, -3, 9, -8 /*mean (0.0548021), correlation (0.484237)*/,
        2, -12, 2, 8 /*mean (0.0616622), correlation (0.496642)*/,
        -11, -2, -10, 3 /*mean (0.0627755), correlation (0.498563)*/,
        -12, -13, -7, -9 /*mean (0.0829622), correlation (0.495491)*/,
        -11, 0, -10, -5 /*mean (0.0843342), correlation (0.487146)*/,
        5, -3, 11, 8 /*mean (0.0929937), correlation (0.502315)*/,
        -2, -13, -1, 12 /*mean (0.113327), correlation (0.48941)*/,
        -1, -8, 0, 9 /*mean (0.132119), correlation (0.467268)*/,
        -13, -11, -12, -5 /*mean (0.136269), correlation (0.498771)*/,
        -10, -2, -10, 11 /*mean (0.142173), correlation (0.498714)*/,
        -3, 9, -2, -13 /*mean (0.144141), correlation (0.491973)*/,
        2, -3, 3, 2 /*mean (0.14892), correlation (0.500782)*/,
        -9, -13, -4, 0 /*mean (0.150371), correlation (0.498211)*/,
        -4, 6, -3, -10 /*mean (0.152159), correlation (0.495547)*/,
        -4, 12, -2, -7 /*mean (0.156152), correlation (0.496925)*/,
        -6, -11, -4, 9 /*mean (0.15749), correlation (0.499222)*/,
        6, -3, 6, 11 /*mean (0.159211), correlation (0.503821)*/,
        -13, 11, -5, 5 /*mean (0.162427), correlation (0.501907)*/,
        11, 11, 12, 6 /*mean (0.16652), correlation (0.497632)*/,
        7, -5, 12, -2 /*mean (0.169141), correlation (0.484474)*/,
        -1, 12, 0, 7 /*mean (0.169456), correlation (0.495339)*/,
        -4, -8, -3, -2 /*mean (0.171457), correlation (0.487251)*/,
        -7, 1, -6, 7 /*mean (0.175), correlation (0.500024)*/,
        -13, -12, -8, -13 /*mean (0.175866), correlation (0.497523)*/,
        -7, -2, -6, -8 /*mean (0.178273), correlation (0.501854)*/,
        -8, 5, -6, -9 /*mean (0.181107), correlation (0.494888)*/,
        -5, -1, -4, 5 /*mean (0.190227), correlation (0.482557)*/,
        -13, 7, -8, 10 /*mean (0.196739), correlation (0.496503)*/,
        1, 5, 5, -13 /*mean (0.19973), correlation (0.499759)*/,
        1, 0, 10, -13 /*mean (0.204465), correlation (0.49873)*/,
        9, 12, 10, -1 /*mean (0.209334), correlation (0.49063)*/,
        5, -8, 10, -9 /*mean (0.211134), correlation (0.503011)*/,
        -1, 11, 1, -13 /*mean (0.212), correlation (0.499414)*/,
        -9, -3, -6, 2 /*mean (0.212168), correlation (0.480739)*/,
        -1, -10, 1, 12 /*mean (0.212731), correlation (0.502523)*/,
        -13, 1, -8, -10 /*mean (0.21327), correlation (0.489786)*/,
        8, -11, 10, -6 /*mean (0.214159), correlation (0.488246)*/,
        2, -13, 3, -6 /*mean (0.216993), correlation (0.50287)*/,
        7, -13, 12, -9 /*mean (0.223639), correlation (0.470502)*/,
        -10, -10, -5, -7 /*mean (0.224089), correlation (0.500852)*/,
        -10, -8, -8, -13 /*mean (0.228666), correlation (0.502629)*/,
        4, -6, 8, 5 /*mean (0.22906), correlation (0.498305)*/,
        3, 12, 8, -13 /*mean (0.233378), correlation (0.503825)*/,
        -4, 2, -3, -3 /*mean (0.234323), correlation (0.476692)*/,
        5, -13, 10, -12 /*mean (0.236392), correlation (0.475462)*/,
        4, -13, 5, -1 /*mean (0.236842), correlation (0.504132)*/,
        -9, 9, -4, 3 /*mean (0.236977), correlation (0.497739)*/,
        0, 3, 3, -9 /*mean (0.24314), correlation (0.499398)*/,
        -12, 1, -6, 1 /*mean (0.243297), correlation (0.489447)*/,
        3, 2, 4, -8 /*mean (0.00155196), correlation (0.553496)*/,
        -10, -10, -10, 9 /*mean (0.00239541), correlation (0.54297)*/,
        8, -13, 12, 12 /*mean (0.0034413), correlation (0.544361)*/,
        -8, -12, -6, -5 /*mean (0.003565), correlation (0.551225)*/,
        2, 2, 3, 7 /*mean (0.00835583), correlation (0.55285)*/,
        10, 6, 11, -8 /*mean (0.00885065), correlation (0.540913)*/,
        6, 8, 8, -12 /*mean (0.0101552), correlation (0.551085)*/,
        -7, 10, -6, 5 /*mean (0.0102227), correlation (0.533635)*/,
        -3, -9, -3, 9 /*mean (0.0110211), correlation (0.543121)*/,
        -1, -13, -1, 5 /*mean (0.0113473), correlation (0.550173)*/,
        -3, -7, -3, 4 /*mean (0.0140913), correlation (0.554774)*/,
        -8, -2, -8, 3 /*mean (0.017049), correlation (0.55461)*/,
        4, 2, 12, 12 /*mean (0.01778), correlation (0.546921)*/,
        2, -5, 3, 11 /*mean (0.0224022), correlation (0.549667)*/,
        6, -9, 11, -13 /*mean (0.029161), correlation (0.546295)*/,
        3, -1, 7, 12 /*mean (0.0303081), correlation (0.548599)*/,
        11, -1, 12, 4 /*mean (0.0355151), correlation (0.523943)*/,
        -3, 0, -3, 6 /*mean (0.0417904), correlation (0.543395)*/,
        4, -11, 4, 12 /*mean (0.0487292), correlation (0.542818)*/,
        2, -4, 2, 1 /*mean (0.0575124), correlation (0.554888)*/,
        -10, -6, -8, 1 /*mean (0.0594242), correlation (0.544026)*/,
        -13, 7, -11, 1 /*mean (0.0597391), correlation (0.550524)*/,
        -13, 12, -11, -13 /*mean (0.0608974), correlation (0.55383)*/,
        6, 0, 11, -13 /*mean (0.065126), correlation (0.552006)*/,
        0, -1, 1, 4 /*mean (0.074224), correlation (0.546372)*/,
        -13, 3, -9, -2 /*mean (0.0808592), correlation (0.554875)*/,
        -9, 8, -6, -3 /*mean (0.0883378), correlation (0.551178)*/,
        -13, -6, -8, -2 /*mean (0.0901035), correlation (0.548446)*/,
        5, -9, 8, 10 /*mean (0.0949843), correlation (0.554694)*/,
        2, 7, 3, -9 /*mean (0.0994152), correlation (0.550979)*/,
        -1, -6, -1, -1 /*mean (0.10045), correlation (0.552714)*/,
        9, 5, 11, -2 /*mean (0.100686), correlation (0.552594)*/,
        11, -3, 12, -8 /*mean (0.101091), correlation (0.532394)*/,
        3, 0, 3, 5 /*mean (0.101147), correlation (0.525576)*/,
        -1, 4, 0, 10 /*mean (0.105263), correlation (0.531498)*/,
        3, -6, 4, 5 /*mean (0.110785), correlation (0.540491)*/,
        -13, 0, -10, 5 /*mean (0.112798), correlation (0.536582)*/,
        5, 8, 12, 11 /*mean (0.114181), correlation (0.555793)*/,
        8, 9, 9, -6 /*mean (0.117431), correlation (0.553763)*/,
        7, -4, 8, -12 /*mean (0.118522), correlation (0.553452)*/,
        -10, 4, -10, 9 /*mean (0.12094), correlation (0.554785)*/,
        7, 3, 12, 4 /*mean (0.122582), correlation (0.555825)*/,
        9, -7, 10, -2 /*mean (0.124978), correlation (0.549846)*/,
        7, 0, 12, -2 /*mean (0.127002), correlation (0.537452)*/,
        -1, -6, 0, -11 /*mean (0.127148), correlation (0.547401)*/
};
void computeORB(const Mat &img, vector<KeyPoint> &keypoints, vector<DescType> &descriptors);
void BfMatc(const vector<DescType> desc1, const vector<DescType> desc2, vector<cv::DMatch> &matches);
#endif